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<a href="cache_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_CACHE_HH_</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_CACHE_HH_</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimizable__graph_8h.html">optimizable_graph.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">class </span>CacheContainer;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  </div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache.html">   38</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_cache.html">Cache</a>: <span class="keyword">public</span> <a class="code" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">HyperGraph::HyperGraphElement</a></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache.html#a86dec1e0424aa4ae4e6867c69efd7868">   41</a></span>&#160;      <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_1_1_cache_key.html">   42</a></span>&#160;      <span class="keyword">class  </span><a class="code" href="classg2o_1_1_cache_1_1_cache_key.html">CacheKey</a></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keyword">public</span>:</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_1_1_cache_key.html#a86dec1e0424aa4ae4e6867c69efd7868">   45</a></span>&#160;          <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;          <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a44405e660e962a9d39cfaf97f103b139">CacheKey</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;          <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a44405e660e962a9d39cfaf97f103b139">CacheKey</a>(<span class="keyword">const</span> std::string&amp; type_, <span class="keyword">const</span> <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a>&amp; parameters_);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;          <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a37ebfaa23730d98c642191fc5e360901">operator&lt;</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html">CacheKey</a>&amp; c) <span class="keyword">const</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_1_1_cache_key.html#a426acdbf2c72f48f7923dcd7e2137aef">   51</a></span>&#160;          <span class="keyword">const</span> std::string&amp; <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a426acdbf2c72f48f7923dcd7e2137aef">type</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a886ec6cf583561cb791cbaff902c673d">_type</a>;}</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_1_1_cache_key.html#a06153e97f21620b5b74f6d3566171853">   52</a></span>&#160;          <span class="keyword">const</span> <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a>&amp; <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a06153e97f21620b5b74f6d3566171853">parameters</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a3f8dc2307bd1d174a30bdc8443a8d152">_parameters</a>;}</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keyword">protected</span>:</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_1_1_cache_key.html#a886ec6cf583561cb791cbaff902c673d">   55</a></span>&#160;          std::string <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a886ec6cf583561cb791cbaff902c673d">_type</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_1_1_cache_key.html#a3f8dc2307bd1d174a30bdc8443a8d152">   56</a></span>&#160;          <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a> <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a3f8dc2307bd1d174a30bdc8443a8d152">_parameters</a>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      };</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <a class="code" href="classg2o_1_1_cache.html#adb5e57e9f06505511fdedb247a977cc3">Cache</a>(<a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>* container_ = 0, <span class="keyword">const</span> <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a>&amp; parameters_ = <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a>());</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html">CacheKey</a> <a class="code" href="classg2o_1_1_cache.html#a2e0a0de318ff4a0f50c263869a87908b">key</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* <a class="code" href="classg2o_1_1_cache.html#ab94788e39d7e81201d14bc8ac58325c7">vertex</a>();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <a class="code" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a>* <a class="code" href="classg2o_1_1_cache.html#a1a4480a445469d2d02b8db449e6cb57c">graph</a>();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>* <a class="code" href="classg2o_1_1_cache.html#a249ffa5c8ac120b3123bd151200082c9">container</a>();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a>&amp; <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a06153e97f21620b5b74f6d3566171853">parameters</a>();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_cache.html#aaea446a5eb59569acc67c94793975a0b">update</a>();</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache.html#ace402a9e59f3fe28ae7e44854cbc5e97">   70</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">HyperGraph::HyperGraphElementType</a> <a class="code" href="classg2o_1_1_cache.html#ace402a9e59f3fe28ae7e44854cbc5e97">elementType</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafdb05add70f035dced2b173de8431408">HyperGraph::HGET_CACHE</a>;}</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_cache.html#ae46e4a4e37c034925edd6bbfdfaa1cb2">updateImpl</a>() = 0;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <a class="code" href="classg2o_1_1_cache.html">Cache</a>* <a class="code" href="classg2o_1_1_cache.html#a776574fb98726ff61bc1280ea624c6e5">installDependency</a>(<span class="keyword">const</span> std::string&amp; type_, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; parameterIndices);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_cache.html#a0c26f0baa33a5902002f1ca2d5f57ece">resolveDependancies</a>();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache.html#a28d0ad45da71d9b7bc6de4cf1fb0f9e4">   97</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_cache.html#a28d0ad45da71d9b7bc6de4cf1fb0f9e4">_updateNeeded</a>;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache.html#ad596a1a7591adece4664a43fc87b881d">   98</a></span>&#160;      <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a> <a class="code" href="classg2o_1_1_cache.html#ad596a1a7591adece4664a43fc87b881d">_parameters</a>;</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache.html#a0b38f0c773c02903acf8964f73c3aa26">   99</a></span>&#160;      std::vector&lt;Cache*&gt; <a class="code" href="classg2o_1_1_cache.html#a0b38f0c773c02903acf8964f73c3aa26">_parentCaches</a>;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache.html#a098aeecd7f0daa19a58f710ae7cb27c3">  100</a></span>&#160;      <a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>* <a class="code" href="classg2o_1_1_cache.html#a098aeecd7f0daa19a58f710ae7cb27c3">_container</a>;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  };</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_container.html">  103</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>: <span class="keyword">public</span> std::map&lt;Cache::CacheKey, Cache*&gt;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html#a86dec1e0424aa4ae4e6867c69efd7868">CacheContainer</a>(<a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* vertex_);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* <a class="code" href="classg2o_1_1_cache.html#ab94788e39d7e81201d14bc8ac58325c7">vertex</a>();</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <a class="code" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a>* <a class="code" href="classg2o_1_1_cache.html#a1a4480a445469d2d02b8db449e6cb57c">graph</a>();</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <a class="code" href="classg2o_1_1_cache.html">Cache</a>* findCache(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html">Cache::CacheKey</a>&amp; <a class="code" href="classg2o_1_1_cache.html#a2e0a0de318ff4a0f50c263869a87908b">key</a>);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <a class="code" href="classg2o_1_1_cache.html">Cache</a>* createCache(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html">Cache::CacheKey</a>&amp; key);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">void</span> setUpdateNeeded(<span class="keywordtype">bool</span> needUpdate=<span class="keyword">true</span>);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_cache.html#aaea446a5eb59569acc67c94793975a0b">update</a>();</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_container.html#a899b5f4d01859463cedf663b68f78391">  115</a></span>&#160;      <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* <a class="code" href="classg2o_1_1_cache_container.html#a899b5f4d01859463cedf663b68f78391">_vertex</a>;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classg2o_1_1_cache_container.html#a5fd5257863e41c3fc38336aaa7779b3e">  116</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_cache_container.html#a5fd5257863e41c3fc38336aaa7779b3e">_updateNeeded</a>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  };</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> CacheType&gt;</div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ad95f2883af693de56e46a2b272dc1cdc">  121</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ad95f2883af693de56e46a2b272dc1cdc">OptimizableGraph::Edge::resolveCache</a>(CacheType*&amp; cache, </div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* v, </div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">const</span> std::string&amp; type_, </div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">const</span> <a class="code" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a>&amp; parameters_)</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    cache = 0;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <a class="code" href="classg2o_1_1_cache_container.html">CacheContainer</a>* <a class="code" href="classg2o_1_1_cache.html#a249ffa5c8ac120b3123bd151200082c9">container</a>= v-&gt;<a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab381120a2c00fc8ae90e5c298dfbb967">cacheContainer</a>();</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <a class="code" href="classg2o_1_1_cache_1_1_cache_key.html">Cache::CacheKey</a> <a class="code" href="classg2o_1_1_cache.html#a2e0a0de318ff4a0f50c263869a87908b">key</a>(type_, parameters_);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <a class="code" href="classg2o_1_1_cache.html">Cache</a>* c = container-&gt;<a class="code" href="classg2o_1_1_cache_container.html#a2a0230117e0e71210f3d10a9e7143d0f">findCache</a>(key);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">if</span> (!c) {</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      c = container-&gt;<a class="code" href="classg2o_1_1_cache_container.html#a08902c228901e06c4e08c5b594683a6c">createCache</a>(key);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">if</span> (c) {</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      cache = <span class="keyword">dynamic_cast&lt;</span>CacheType*<span class="keyword">&gt;</span>(c); </div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    }</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html_ab381120a2c00fc8ae90e5c298dfbb967"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab381120a2c00fc8ae90e5c298dfbb967">g2o::OptimizableGraph::Vertex::cacheContainer</a></div><div class="ttdeci">CacheContainer * cacheContainer()</div><div class="ttdef"><b>Definition:</b> optimizable_graph.cpp:70</div></div>
<div class="ttc" id="classg2o_1_1_cache_container_html"><div class="ttname"><a href="classg2o_1_1_cache_container.html">g2o::CacheContainer</a></div><div class="ttdef"><b>Definition:</b> cache.h:103</div></div>
<div class="ttc" id="classg2o_1_1_cache_container_html_a5fd5257863e41c3fc38336aaa7779b3e"><div class="ttname"><a href="classg2o_1_1_cache_container.html#a5fd5257863e41c3fc38336aaa7779b3e">g2o::CacheContainer::_updateNeeded</a></div><div class="ttdeci">bool _updateNeeded</div><div class="ttdef"><b>Definition:</b> cache.h:116</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></div><div class="ttdoc">A general case Vertex for optimization. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:127</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a0b38f0c773c02903acf8964f73c3aa26"><div class="ttname"><a href="classg2o_1_1_cache.html#a0b38f0c773c02903acf8964f73c3aa26">g2o::Cache::_parentCaches</a></div><div class="ttdeci">std::vector&lt; Cache * &gt; _parentCaches</div><div class="ttdef"><b>Definition:</b> cache.h:99</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a249ffa5c8ac120b3123bd151200082c9"><div class="ttname"><a href="classg2o_1_1_cache.html#a249ffa5c8ac120b3123bd151200082c9">g2o::Cache::container</a></div><div class="ttdeci">CacheContainer * container()</div><div class="ttdef"><b>Definition:</b> cache.cpp:71</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a2e0a0de318ff4a0f50c263869a87908b"><div class="ttname"><a href="classg2o_1_1_cache.html#a2e0a0de318ff4a0f50c263869a87908b">g2o::Cache::key</a></div><div class="ttdeci">CacheKey key() const</div><div class="ttdef"><b>Definition:</b> cache.cpp:79</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a1a4480a445469d2d02b8db449e6cb57c"><div class="ttname"><a href="classg2o_1_1_cache.html#a1a4480a445469d2d02b8db449e6cb57c">g2o::Cache::graph</a></div><div class="ttdeci">OptimizableGraph * graph()</div><div class="ttdef"><b>Definition:</b> cache.cpp:65</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html_a86dec1e0424aa4ae4e6867c69efd7868"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html#a86dec1e0424aa4ae4e6867c69efd7868">g2o::Cache::CacheKey::CacheContainer</a></div><div class="ttdeci">friend class CacheContainer</div><div class="ttdef"><b>Definition:</b> cache.h:45</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a098aeecd7f0daa19a58f710ae7cb27c3"><div class="ttname"><a href="classg2o_1_1_cache.html#a098aeecd7f0daa19a58f710ae7cb27c3">g2o::Cache::_container</a></div><div class="ttdeci">CacheContainer * _container</div><div class="ttdef"><b>Definition:</b> cache.h:100</div></div>
<div class="ttc" id="classg2o_1_1_cache_container_html_a08902c228901e06c4e08c5b594683a6c"><div class="ttname"><a href="classg2o_1_1_cache_container.html#a08902c228901e06c4e08c5b594683a6c">g2o::CacheContainer::createCache</a></div><div class="ttdeci">Cache * createCache(const Cache::CacheKey &amp;key)</div><div class="ttdef"><b>Definition:</b> cache.cpp:129</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a776574fb98726ff61bc1280ea624c6e5"><div class="ttname"><a href="classg2o_1_1_cache.html#a776574fb98726ff61bc1280ea624c6e5">g2o::Cache::installDependency</a></div><div class="ttdeci">Cache * installDependency(const std::string &amp;type_, const std::vector&lt; int &gt; &amp;parameterIndices)</div><div class="ttdoc">this function installs and satisfies a cache </div><div class="ttdef"><b>Definition:</b> cache.cpp:95</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_ad596a1a7591adece4664a43fc87b881d"><div class="ttname"><a href="classg2o_1_1_cache.html#ad596a1a7591adece4664a43fc87b881d">g2o::Cache::_parameters</a></div><div class="ttdeci">ParameterVector _parameters</div><div class="ttdef"><b>Definition:</b> cache.h:98</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_ae46e4a4e37c034925edd6bbfdfaa1cb2"><div class="ttname"><a href="classg2o_1_1_cache.html#ae46e4a4e37c034925edd6bbfdfaa1cb2">g2o::Cache::updateImpl</a></div><div class="ttdeci">virtual void updateImpl()=0</div><div class="ttdoc">redefine this to do the update </div></div>
<div class="ttc" id="classg2o_1_1_cache_html_adb5e57e9f06505511fdedb247a977cc3"><div class="ttname"><a href="classg2o_1_1_cache.html#adb5e57e9f06505511fdedb247a977cc3">g2o::Cache::Cache</a></div><div class="ttdeci">Cache(CacheContainer *container_=0, const ParameterVector &amp;parameters_=ParameterVector())</div><div class="ttdef"><b>Definition:</b> cache.cpp:46</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_edge_html_ad95f2883af693de56e46a2b272dc1cdc"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_edge.html#ad95f2883af693de56e46a2b272dc1cdc">g2o::OptimizableGraph::Edge::resolveCache</a></div><div class="ttdeci">void resolveCache(CacheType *&amp;cache, OptimizableGraph::Vertex *, const std::string &amp;_type, const ParameterVector &amp;parameters)</div><div class="ttdef"><b>Definition:</b> cache.h:121</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69e"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">g2o::HyperGraph::HyperGraphElementType</a></div><div class="ttdeci">HyperGraphElementType</div><div class="ttdoc">enum of all the types we have in our graphs </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:65</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a0c26f0baa33a5902002f1ca2d5f57ece"><div class="ttname"><a href="classg2o_1_1_cache.html#a0c26f0baa33a5902002f1ca2d5f57ece">g2o::Cache::resolveDependancies</a></div><div class="ttdeci">virtual bool resolveDependancies()</div><div class="ttdoc">Function to be called from a cache that has dependencies. </div><div class="ttdef"><b>Definition:</b> cache.cpp:114</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html_a06153e97f21620b5b74f6d3566171853"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html#a06153e97f21620b5b74f6d3566171853">g2o::Cache::CacheKey::parameters</a></div><div class="ttdeci">const ParameterVector &amp; parameters() const</div><div class="ttdef"><b>Definition:</b> cache.h:52</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_ace402a9e59f3fe28ae7e44854cbc5e97"><div class="ttname"><a href="classg2o_1_1_cache.html#ace402a9e59f3fe28ae7e44854cbc5e97">g2o::Cache::elementType</a></div><div class="ttdeci">virtual HyperGraph::HyperGraphElementType elementType() const</div><div class="ttdoc">returns the type of the graph element, see HyperGraphElementType </div><div class="ttdef"><b>Definition:</b> cache.h:70</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_ab94788e39d7e81201d14bc8ac58325c7"><div class="ttname"><a href="classg2o_1_1_cache.html#ab94788e39d7e81201d14bc8ac58325c7">g2o::Cache::vertex</a></div><div class="ttdeci">OptimizableGraph::Vertex * vertex()</div><div class="ttdef"><b>Definition:</b> cache.cpp:59</div></div>
<div class="ttc" id="namespaceg2o_html_a85cc8f2c7db8cab47b2b269a7acd6785"><div class="ttname"><a href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">g2o::ParameterVector</a></div><div class="ttdeci">std::vector&lt; Parameter * &gt; ParameterVector</div><div class="ttdef"><b>Definition:</b> parameter.h:52</div></div>
<div class="ttc" id="classg2o_1_1_cache_container_html_a2a0230117e0e71210f3d10a9e7143d0f"><div class="ttname"><a href="classg2o_1_1_cache_container.html#a2a0230117e0e71210f3d10a9e7143d0f">g2o::CacheContainer::findCache</a></div><div class="ttdeci">Cache * findCache(const Cache::CacheKey &amp;key)</div><div class="ttdef"><b>Definition:</b> cache.cpp:122</div></div>
<div class="ttc" id="optimizable__graph_8h_html"><div class="ttname"><a href="optimizable__graph_8h.html">optimizable_graph.h</a></div></div>
<div class="ttc" id="structg2o_1_1_hyper_graph_1_1_hyper_graph_element_html"><div class="ttname"><a href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">g2o::HyperGraph::HyperGraphElement</a></div><div class="ttdoc">base hyper graph element, specialized in vertex and edge </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:82</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html">g2o::Cache::CacheKey</a></div><div class="ttdef"><b>Definition:</b> cache.h:42</div></div>
<div class="ttc" id="classg2o_1_1_cache_container_html_a899b5f4d01859463cedf663b68f78391"><div class="ttname"><a href="classg2o_1_1_cache_container.html#a899b5f4d01859463cedf663b68f78391">g2o::CacheContainer::_vertex</a></div><div class="ttdeci">OptimizableGraph::Vertex * _vertex</div><div class="ttdef"><b>Definition:</b> cache.h:115</div></div>
<div class="ttc" id="classg2o_1_1_cache_html"><div class="ttname"><a href="classg2o_1_1_cache.html">g2o::Cache</a></div><div class="ttdef"><b>Definition:</b> cache.h:38</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html_a37ebfaa23730d98c642191fc5e360901"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html#a37ebfaa23730d98c642191fc5e360901">g2o::Cache::CacheKey::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const CacheKey &amp;c) const</div><div class="ttdef"><b>Definition:</b> cache.cpp:51</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html_a426acdbf2c72f48f7923dcd7e2137aef"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html#a426acdbf2c72f48f7923dcd7e2137aef">g2o::Cache::CacheKey::type</a></div><div class="ttdeci">const std::string &amp; type() const</div><div class="ttdef"><b>Definition:</b> cache.h:51</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html">g2o::OptimizableGraph</a></div><div class="ttdoc">This is an abstract class that represents one optimization problem. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:64</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_a28d0ad45da71d9b7bc6de4cf1fb0f9e4"><div class="ttname"><a href="classg2o_1_1_cache.html#a28d0ad45da71d9b7bc6de4cf1fb0f9e4">g2o::Cache::_updateNeeded</a></div><div class="ttdeci">bool _updateNeeded</div><div class="ttdef"><b>Definition:</b> cache.h:97</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69eafdb05add70f035dced2b173de8431408"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafdb05add70f035dced2b173de8431408">g2o::HyperGraph::HGET_CACHE</a></div><div class="ttdef"><b>Definition:</b> hyper_graph.h:69</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html_a44405e660e962a9d39cfaf97f103b139"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html#a44405e660e962a9d39cfaf97f103b139">g2o::Cache::CacheKey::CacheKey</a></div><div class="ttdeci">CacheKey()</div><div class="ttdef"><b>Definition:</b> cache.cpp:36</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html_a3f8dc2307bd1d174a30bdc8443a8d152"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html#a3f8dc2307bd1d174a30bdc8443a8d152">g2o::Cache::CacheKey::_parameters</a></div><div class="ttdeci">ParameterVector _parameters</div><div class="ttdef"><b>Definition:</b> cache.h:56</div></div>
<div class="ttc" id="classg2o_1_1_cache_1_1_cache_key_html_a886ec6cf583561cb791cbaff902c673d"><div class="ttname"><a href="classg2o_1_1_cache_1_1_cache_key.html#a886ec6cf583561cb791cbaff902c673d">g2o::Cache::CacheKey::_type</a></div><div class="ttdeci">std::string _type</div><div class="ttdef"><b>Definition:</b> cache.h:55</div></div>
<div class="ttc" id="classg2o_1_1_cache_html_aaea446a5eb59569acc67c94793975a0b"><div class="ttname"><a href="classg2o_1_1_cache.html#aaea446a5eb59569acc67c94793975a0b">g2o::Cache::update</a></div><div class="ttdeci">void update()</div><div class="ttdef"><b>Definition:</b> cache.cpp:85</div></div>
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